I agree with Bill, it will come up again and again over your DSLR life, and it is easiest to just give up and learn how. Once you do it 2-3 times, once you mess it up once and smear it up and make it worse (this will happen at least once, then you just start over and clean that up), you will think of it as just an occasional nuisance.
But that said, I know many a DSLR owner who never wants to tackle it. Personally I'd take it to a reputable shop who will do cleaning rather than wait the weeks turnaround at Nikon is likely to take, and especially risk shipment. A lot of local places (and not talking Best Buy here!) will do cleaning. Talk to some local camera clubs or read on the internet for references, and see if that's a viable choice. Big cities like Chicago it's easy, smaller ones -- well, you might be down to a choice between DIY or Nikon.
Even if Nikon would do it for free (and stories differ on that), shipment is not free, or without risk, and turnaround is slow.
PEK Pads and Eclipse and a plastic spatula I bought somewhere (I can't recall) work great for me.
Oh... often not mentioned, the newer cameras have a sticky border around the sensor where the auto-clean dust collects. Don't touch it with the pad as, well, it's sticky and makes a hard-to-remove mess if you drag it onto the sensor. If you accidentally do, lift the bad/swab up and throw it away.